hi
i m actually doing teleoperation using two falcon devices one as master and the other as a slave,i used the mirror code example in force dimension as an example, and i figured out with position-position control,where master position is passed as a command to the slave servo(position) controller, and slave position is returned to the master as a position command.i want to ask if i can do position-force control?. the idea is also to send master positions as commands for the slave to follow,But the interaction force at the slave is sent back directly as a reaction force to the master.

thank you

The mirror example which comes with the Force Dimension SDK is designed to illustrate the use of the robotics library in the context of teleoperation.

Using CHAI3D, you can easily develop your own teleoperation application when you would model for instance a virtual between the two haptic devices. Methods including setForce() and getPosition() would be used to retrieve position data and set forces to the haptic devices. A virtual spring connecting both devices together could be used to model the interaction forces between both devices.

See examples 01-mydevice and 02-multi-devices.

hi
first i m just beginner in such programming,now i switch to CHAI3D library as you advice me.
in force dimension i could do position-position control,ı use the same mirror code and do some change in it like setting offset and stability condition (damping,stiffness,..).
now i want to do it using CHAI3d.i See examples 01-mydevice and 02-multi-devices,but i m confused about take the same coding in the example i try to do changes on it,or start a new code .NB:when i read the examples coding i find it difficult to understand each part.


thank you for your help.